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<div class="title">test_bench_8_motors.hpp</div>  </div>
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<a href="test__bench__8__motors_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;</div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="preprocessor">#ifndef TEST_BENCH_8_MOTORS_HPP</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="preprocessor">#define TEST_BENCH_8_MOTORS_HPP</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;</div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="preprocessor">#include &lt;<a class="code" href="common__header_8hpp.html">blmc_robots/common_header.hpp</a>&gt;</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespaceblmc__robots.html">blmc_robots</a></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;{</div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;</div><div class="line"><a name="l00024"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html">   24</a></span>&#160;<span class="keyword">class </span><a class="code" href="classblmc__robots_1_1TestBench8Motors.html">TestBench8Motors</a></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;{</div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="keyword">public</span>:</div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;</div><div class="line"><a name="l00031"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#a049fd1c22b23b81372f2a57a03bf1303">   31</a></span>&#160;  <span class="keyword">typedef</span> blmc_drivers::MotorInterface::MeasurementIndex <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a049fd1c22b23b81372f2a57a03bf1303">mi</a>;</div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;  <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a99006d989ac690956a2e1ab9b710de0f">TestBench8Motors</a>();</div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#aa8981496d1193752de3017a3eebb87dc">initialize</a>();</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a5194da9e85b4391e9ff6c5bf5a07faf2">send_target_current</a>(</div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;      <span class="keyword">const</span> <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> target_currents);</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;</div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keywordtype">void</span> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a2792f7d4866c396ddfb88730a1644988">acquire_sensors</a>();</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;</div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#a9372bd2722944fa510aa56323f8955b8">   63</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a9372bd2722944fa510aa56323f8955b8">get_motor_positions</a>()</div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  {</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="keywordflow">return</span> motor_positions_;</div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  }</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;</div><div class="line"><a name="l00075"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#aaf4aa80251af98000ffad95eddf0b449">   75</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#aaf4aa80251af98000ffad95eddf0b449">get_motor_velocities</a>()</div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;  {</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordflow">return</span> motor_velocities_;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  }</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#a9bac22cb6522afd6412e8fbb56f11fbf">   87</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a9bac22cb6522afd6412e8fbb56f11fbf">get_motor_currents</a>()</div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span> motor_currents_;</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div><div class="line"><a name="l00099"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#ab1d81b573c721e5c8ad400ed4fb4d6ef">   99</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#ab1d81b573c721e5c8ad400ed4fb4d6ef">get_motor_encoder_indexes</a>()</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  {</div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    <span class="keywordflow">return</span> motor_encoder_indexes_;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  }</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;</div><div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#a11bdbb6f0e4dd0824075ba309f69ad3a">  111</a></span>&#160;  <span class="keyword">const</span> <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a11bdbb6f0e4dd0824075ba309f69ad3a">get_slider_positions</a>()</div><div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;  {</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keywordflow">return</span> slider_positions_;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  }</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;</div><div class="line"><a name="l00120"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#abd3b8a40787ad9e6c019b849da9ca07c">  120</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#abd3b8a40787ad9e6c019b849da9ca07c">get_max_current</a>()</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  {</div><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">return</span> max_current_;</div><div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;  }</div><div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div><div class="line"><a name="l00129"></a><span class="lineno"><a class="line" href="classblmc__robots_1_1TestBench8Motors.html#a17ac05712b3cb4e63dfd8cdb80b16eea">  129</a></span>&#160;  <span class="keywordtype">double</span> <a class="code" href="classblmc__robots_1_1TestBench8Motors.html#a17ac05712b3cb4e63dfd8cdb80b16eea">get_max_range</a>()</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  {</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;    <span class="keywordflow">return</span> max_range_;</div><div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;  }</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;<span class="keyword">private</span>:</div><div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_positions_;</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_velocities_;</div><div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_currents_;</div><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> motor_encoder_indexes_;</div><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> slider_positions_;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a> target_currents;</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBus&gt; can_bus0_;</div><div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBus&gt; can_bus1_;</div><div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBus&gt; can_bus2_;</div><div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBus&gt; can_bus3_;</div><div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBusMotorBoard&gt; board0_;</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBusMotorBoard&gt; board1_;</div><div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBusMotorBoard&gt; board2_;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  std::shared_ptr&lt;blmc_drivers::CanBusMotorBoard&gt; board3_;</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="keywordtype">double</span> max_current_ ;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordtype">double</span> max_range_ ;</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  <span class="comment">// we have 4 board with each possessing 2 motors and 2 sliders</span></div><div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board0_motor0_;</div><div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board0_motor1_;</div><div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board0_slider0_;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board0_slider1_;</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board1_motor0_;</div><div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board1_motor1_;</div><div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board1_slider0_;</div><div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board1_slider1_;</div><div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board2_motor0_;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board2_motor1_;</div><div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board2_slider0_;</div><div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board2_slider1_;</div><div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;</div><div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board3_motor0_;</div><div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a> board3_motor1_;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board3_slider0_;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;  <a class="code" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a> board3_slider1_;</div><div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;};</div><div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;</div><div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;} <span class="comment">// namespace blmc_robots</span></div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;<span class="preprocessor">#endif // TEST_BENCH_8_MOTORS_HPP</span></div><div class="ttc" id="namespaceblmc__robots_html_a4cb9a95e8b2c0bf237ce29f5252c7b73"><div class="ttname"><a href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">blmc_robots::Slider_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::AnalogSensor &gt; Slider_ptr</div><div class="ttdoc">Slider_ptr shortcut for the linear potentiometer analog sensor. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:63</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a9372bd2722944fa510aa56323f8955b8"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a9372bd2722944fa510aa56323f8955b8">blmc_robots::TestBench8Motors::get_motor_positions</a></div><div class="ttdeci">const Vector8d get_motor_positions()</div><div class="ttdoc">get_motor_positions </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:63</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a049fd1c22b23b81372f2a57a03bf1303"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a049fd1c22b23b81372f2a57a03bf1303">blmc_robots::TestBench8Motors::mi</a></div><div class="ttdeci">blmc_drivers::MotorInterface::MeasurementIndex mi</div><div class="ttdoc">mi this typdef is used to get the measurements form the blmc api </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:31</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a17ac05712b3cb4e63dfd8cdb80b16eea"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a17ac05712b3cb4e63dfd8cdb80b16eea">blmc_robots::TestBench8Motors::get_max_range</a></div><div class="ttdeci">double get_max_range()</div><div class="ttdoc">get_max_current </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:129</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a11bdbb6f0e4dd0824075ba309f69ad3a"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a11bdbb6f0e4dd0824075ba309f69ad3a">blmc_robots::TestBench8Motors::get_slider_positions</a></div><div class="ttdeci">const Vector8d get_slider_positions()</div><div class="ttdoc">get_slider_positions </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:111</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a9850cf917156e20846aef3f8195aea0f"><div class="ttname"><a href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">blmc_robots::SafeMotor_ptr</a></div><div class="ttdeci">std::shared_ptr&lt; blmc_drivers::SafeMotor &gt; SafeMotor_ptr</div><div class="ttdoc">SafeMotor_ptr shortcut for the shared pointer SafeMotor type. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:58</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a5194da9e85b4391e9ff6c5bf5a07faf2"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a5194da9e85b4391e9ff6c5bf5a07faf2">blmc_robots::TestBench8Motors::send_target_current</a></div><div class="ttdeci">void send_target_current(const Vector8d target_currents)</div><div class="ttdoc">send_target_torques sends the target currents to the motors </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.cpp:157</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html">blmc_robots::TestBench8Motors</a></div><div class="ttdoc">The TestBench8Motors class implements the control of the test bench containing 8 motors and 8 sliders...</div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:24</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_ab1d81b573c721e5c8ad400ed4fb4d6ef"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#ab1d81b573c721e5c8ad400ed4fb4d6ef">blmc_robots::TestBench8Motors::get_motor_encoder_indexes</a></div><div class="ttdeci">const Vector8d get_motor_encoder_indexes()</div><div class="ttdoc">get_motor_encoder_indexes </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:99</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_aaf4aa80251af98000ffad95eddf0b449"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#aaf4aa80251af98000ffad95eddf0b449">blmc_robots::TestBench8Motors::get_motor_velocities</a></div><div class="ttdeci">const Vector8d get_motor_velocities()</div><div class="ttdoc">get_motor_velocities </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:75</div></div>
<div class="ttc" id="common__header_8hpp_html"><div class="ttname"><a href="common__header_8hpp.html">common_header.hpp</a></div><div class="ttdoc">The hardware wrapper of the quadruped. </div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a9bac22cb6522afd6412e8fbb56f11fbf"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a9bac22cb6522afd6412e8fbb56f11fbf">blmc_robots::TestBench8Motors::get_motor_currents</a></div><div class="ttdeci">const Vector8d get_motor_currents()</div><div class="ttdoc">get_motor_currents </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:87</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a2792f7d4866c396ddfb88730a1644988"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a2792f7d4866c396ddfb88730a1644988">blmc_robots::TestBench8Motors::acquire_sensors</a></div><div class="ttdeci">void acquire_sensors()</div><div class="ttdoc">acquire_sensors acquire all available sensors, WARNING !!!! this method has to be called prior to any...</div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.cpp:73</div></div>
<div class="ttc" id="namespaceblmc__robots_html_a98975ffbe0bca1296078e0350dfedd60"><div class="ttname"><a href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">blmc_robots::Vector8d</a></div><div class="ttdeci">Eigen::Matrix&lt; double, 8, 1 &gt; Vector8d</div><div class="ttdoc">Vector8d shortcut for the eigen vector of size 8. </div><div class="ttdef"><b>Definition:</b> common_header.hpp:33</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_aa8981496d1193752de3017a3eebb87dc"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#aa8981496d1193752de3017a3eebb87dc">blmc_robots::TestBench8Motors::initialize</a></div><div class="ttdeci">void initialize()</div><div class="ttdoc">initialize the robot by setting aligning the motors and calibrate the sensors to 0 ...</div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.cpp:30</div></div>
<div class="ttc" id="namespaceblmc__robots_html"><div class="ttname"><a href="namespaceblmc__robots.html">blmc_robots</a></div><div class="ttdef"><b>Definition:</b> blmc_joint_module.cpp:15</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_abd3b8a40787ad9e6c019b849da9ca07c"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#abd3b8a40787ad9e6c019b849da9ca07c">blmc_robots::TestBench8Motors::get_max_current</a></div><div class="ttdeci">double get_max_current()</div><div class="ttdoc">get_max_current </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.hpp:120</div></div>
<div class="ttc" id="classblmc__robots_1_1TestBench8Motors_html_a99006d989ac690956a2e1ab9b710de0f"><div class="ttname"><a href="classblmc__robots_1_1TestBench8Motors.html#a99006d989ac690956a2e1ab9b710de0f">blmc_robots::TestBench8Motors::TestBench8Motors</a></div><div class="ttdeci">TestBench8Motors()</div><div class="ttdoc">TestBench8Motors is the constructor of the class. </div><div class="ttdef"><b>Definition:</b> test_bench_8_motors.cpp:15</div></div>
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